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<a href="#pub-methods">Public Member Functions</a> &#124;
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<div class="title">ImuSimulator&lt; T &gt; Class Template Reference</div>  </div>
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<p><code>#include &lt;<a class="el" href="../../d2/da4/_imu_simulator_8h_source.html">ImuSimulator.h</a>&gt;</code></p>
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  <img id="dynsection-0-trigger" src="../../closed.png" alt="+"/> Inheritance diagram for ImuSimulator&lt; T &gt;:</div>
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<div class="center"><img src="../../d9/d43/class_imu_simulator__inherit__graph.png" border="0" usemap="#_imu_simulator_3_01_t_01_4_inherit__map" alt="Inheritance graph"/></div>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a972dc9977317fddee5c839bdf40841ba"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d8/da4/class_imu_simulator.html#a972dc9977317fddee5c839bdf40841ba">ImuSimulator</a> (<a class="el" href="../../da/dcf/class_simulator_control_parameters.html">SimulatorControlParameters</a> &amp;simSettings, <a class="el" href="../../d0/d99/c_types_8h.html#a3f7e2bcbb0b4c338f3c4f6c937cd4234">u64</a> seed=0)</td></tr>
<tr class="separator:a972dc9977317fddee5c839bdf40841ba"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1c6eaa5dfe26a97bdfeec6b58cad0ad4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d8/da4/class_imu_simulator.html#a1c6eaa5dfe26a97bdfeec6b58cad0ad4">updateVectornav</a> (const <a class="el" href="../../de/d75/struct_f_b_model_state.html">FBModelState</a>&lt; T &gt; &amp;robotState, const <a class="el" href="../../de/dce/struct_f_b_model_state_derivative.html">FBModelStateDerivative</a>&lt; T &gt; &amp;robotStateD, <a class="el" href="../../df/d06/struct_vector_nav_data.html">VectorNavData</a> *data)</td></tr>
<tr class="separator:a1c6eaa5dfe26a97bdfeec6b58cad0ad4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0eceeee2f45b6d659e1f2a32fb1e6947"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d8/da4/class_imu_simulator.html#a0eceeee2f45b6d659e1f2a32fb1e6947">computeAcceleration</a> (const <a class="el" href="../../de/d75/struct_f_b_model_state.html">FBModelState</a>&lt; T &gt; &amp;robotState, const <a class="el" href="../../de/dce/struct_f_b_model_state_derivative.html">FBModelStateDerivative</a>&lt; T &gt; &amp;robotStateD, <a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; float &gt; &amp;acc, std::uniform_real_distribution&lt; float &gt; &amp;dist, const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat</a>&lt; float &gt; &amp;R_body)</td></tr>
<tr class="separator:a0eceeee2f45b6d659e1f2a32fb1e6947"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aadd00de99602f7c66cba555527bf3294"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d8/da4/class_imu_simulator.html#aadd00de99602f7c66cba555527bf3294">updateCheaterState</a> (const <a class="el" href="../../de/d75/struct_f_b_model_state.html">FBModelState</a>&lt; T &gt; &amp;robotState, const <a class="el" href="../../de/dce/struct_f_b_model_state_derivative.html">FBModelStateDerivative</a>&lt; T &gt; &amp;robotStateD, <a class="el" href="../../d2/d3e/struct_cheater_state.html">CheaterState</a>&lt; T &gt; &amp;state)</td></tr>
<tr class="separator:aadd00de99602f7c66cba555527bf3294"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr class="memitem:a7a7e8ca94a157398db9fdc3a7faf6042"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../da/dcf/class_simulator_control_parameters.html">SimulatorControlParameters</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d8/da4/class_imu_simulator.html#a7a7e8ca94a157398db9fdc3a7faf6042">_simSettings</a></td></tr>
<tr class="separator:a7a7e8ca94a157398db9fdc3a7faf6042"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adcd731a7ba6e538479a5e6926d4b1c33"><td class="memItemLeft" align="right" valign="top">std::mt19937&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d8/da4/class_imu_simulator.html#adcd731a7ba6e538479a5e6926d4b1c33">_mt</a></td></tr>
<tr class="separator:adcd731a7ba6e538479a5e6926d4b1c33"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a72ab380a1b7c8ac89c97b3f6891988fa"><td class="memItemLeft" align="right" valign="top">std::uniform_real_distribution&lt; float &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d8/da4/class_imu_simulator.html#a72ab380a1b7c8ac89c97b3f6891988fa">_vectornavGyroDistribution</a></td></tr>
<tr class="separator:a72ab380a1b7c8ac89c97b3f6891988fa"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aac0ae5781d522baef79cfadcb7341429"><td class="memItemLeft" align="right" valign="top">std::uniform_real_distribution&lt; float &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d8/da4/class_imu_simulator.html#aac0ae5781d522baef79cfadcb7341429">_vectornavAccelerometerDistribution</a></td></tr>
<tr class="separator:aac0ae5781d522baef79cfadcb7341429"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad3f9abda52168d652c9f93bb3eeac435"><td class="memItemLeft" align="right" valign="top">std::uniform_real_distribution&lt; float &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d8/da4/class_imu_simulator.html#ad3f9abda52168d652c9f93bb3eeac435">_vectornavQuatDistribution</a></td></tr>
<tr class="separator:ad3f9abda52168d652c9f93bb3eeac435"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a24f248906c0b8d413b10c6a4f824ecee"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d8/da4/class_imu_simulator.html#a24f248906c0b8d413b10c6a4f824ecee">_vectorNavOrientationNoise</a> = false</td></tr>
<tr class="separator:a24f248906c0b8d413b10c6a4f824ecee"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;typename T&gt;<br />
class ImuSimulator&lt; T &gt;</h3>


<p>Definition at line <a class="el" href="../../d2/da4/_imu_simulator_8h_source.html#l00016">16</a> of file <a class="el" href="../../d2/da4/_imu_simulator_8h_source.html">ImuSimulator.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a class="anchor" id="a972dc9977317fddee5c839bdf40841ba"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d8/da4/class_imu_simulator.html">ImuSimulator</a>&lt; T &gt;::<a class="el" href="../../d8/da4/class_imu_simulator.html">ImuSimulator</a> </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../da/dcf/class_simulator_control_parameters.html">SimulatorControlParameters</a> &amp;&#160;</td>
          <td class="paramname"><em>simSettings</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../d0/d99/c_types_8h.html#a3f7e2bcbb0b4c338f3c4f6c937cd4234">u64</a>&#160;</td>
          <td class="paramname"><em>seed</em> = <code>0</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">explicit</span></span>  </td>
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</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d2/da4/_imu_simulator_8h_source.html#l00018">18</a> of file <a class="el" href="../../d2/da4/_imu_simulator_8h_source.html">ImuSimulator.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;      : <a class="code" href="../../d8/da4/class_imu_simulator.html#a7a7e8ca94a157398db9fdc3a7faf6042">_simSettings</a>(simSettings),</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;        <a class="code" href="../../d8/da4/class_imu_simulator.html#adcd731a7ba6e538479a5e6926d4b1c33">_mt</a>(seed),</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;        <a class="code" href="../../d8/da4/class_imu_simulator.html#a72ab380a1b7c8ac89c97b3f6891988fa">_vectornavGyroDistribution</a>(-simSettings.vectornav_imu_gyro_noise,</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;                                   simSettings.vectornav_imu_gyro_noise),</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;        <a class="code" href="../../d8/da4/class_imu_simulator.html#aac0ae5781d522baef79cfadcb7341429">_vectornavAccelerometerDistribution</a>(</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;            -simSettings.vectornav_imu_accelerometer_noise,</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;            simSettings.vectornav_imu_accelerometer_noise),</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;        <a class="code" href="../../d8/da4/class_imu_simulator.html#ad3f9abda52168d652c9f93bb3eeac435">_vectornavQuatDistribution</a>(-simSettings.vectornav_imu_quat_noise,</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;                                   simSettings.vectornav_imu_quat_noise) {</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <span class="keywordflow">if</span> (simSettings.vectornav_imu_quat_noise != 0) {</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;      <a class="code" href="../../d8/da4/class_imu_simulator.html#a24f248906c0b8d413b10c6a4f824ecee">_vectorNavOrientationNoise</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    }</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  }</div><div class="ttc" id="class_imu_simulator_html_ad3f9abda52168d652c9f93bb3eeac435"><div class="ttname"><a href="../../d8/da4/class_imu_simulator.html#ad3f9abda52168d652c9f93bb3eeac435">ImuSimulator::_vectornavQuatDistribution</a></div><div class="ttdeci">std::uniform_real_distribution&lt; float &gt; _vectornavQuatDistribution</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/da4/_imu_simulator_8h_source.html#l00053">ImuSimulator.h:53</a></div></div>
<div class="ttc" id="class_imu_simulator_html_a7a7e8ca94a157398db9fdc3a7faf6042"><div class="ttname"><a href="../../d8/da4/class_imu_simulator.html#a7a7e8ca94a157398db9fdc3a7faf6042">ImuSimulator::_simSettings</a></div><div class="ttdeci">SimulatorControlParameters &amp; _simSettings</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/da4/_imu_simulator_8h_source.html#l00049">ImuSimulator.h:49</a></div></div>
<div class="ttc" id="class_imu_simulator_html_a24f248906c0b8d413b10c6a4f824ecee"><div class="ttname"><a href="../../d8/da4/class_imu_simulator.html#a24f248906c0b8d413b10c6a4f824ecee">ImuSimulator::_vectorNavOrientationNoise</a></div><div class="ttdeci">bool _vectorNavOrientationNoise</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/da4/_imu_simulator_8h_source.html#l00054">ImuSimulator.h:54</a></div></div>
<div class="ttc" id="class_imu_simulator_html_a72ab380a1b7c8ac89c97b3f6891988fa"><div class="ttname"><a href="../../d8/da4/class_imu_simulator.html#a72ab380a1b7c8ac89c97b3f6891988fa">ImuSimulator::_vectornavGyroDistribution</a></div><div class="ttdeci">std::uniform_real_distribution&lt; float &gt; _vectornavGyroDistribution</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/da4/_imu_simulator_8h_source.html#l00051">ImuSimulator.h:51</a></div></div>
<div class="ttc" id="class_imu_simulator_html_aac0ae5781d522baef79cfadcb7341429"><div class="ttname"><a href="../../d8/da4/class_imu_simulator.html#aac0ae5781d522baef79cfadcb7341429">ImuSimulator::_vectornavAccelerometerDistribution</a></div><div class="ttdeci">std::uniform_real_distribution&lt; float &gt; _vectornavAccelerometerDistribution</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/da4/_imu_simulator_8h_source.html#l00052">ImuSimulator.h:52</a></div></div>
<div class="ttc" id="class_imu_simulator_html_adcd731a7ba6e538479a5e6926d4b1c33"><div class="ttname"><a href="../../d8/da4/class_imu_simulator.html#adcd731a7ba6e538479a5e6926d4b1c33">ImuSimulator::_mt</a></div><div class="ttdeci">std::mt19937 _mt</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/da4/_imu_simulator_8h_source.html#l00050">ImuSimulator.h:50</a></div></div>
</div><!-- fragment -->
</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
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template&lt;typename T&gt; </div>
      <table class="memname">
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          <td class="memname">void <a class="el" href="../../d8/da4/class_imu_simulator.html">ImuSimulator</a>&lt; T &gt;::computeAcceleration </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../de/d75/struct_f_b_model_state.html">FBModelState</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>robotState</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../de/dce/struct_f_b_model_state_derivative.html">FBModelStateDerivative</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>robotStateD</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; float &gt; &amp;&#160;</td>
          <td class="paramname"><em>acc</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::uniform_real_distribution&lt; float &gt; &amp;&#160;</td>
          <td class="paramname"><em>dist</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat</a>&lt; float &gt; &amp;&#160;</td>
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<p>Definition at line <a class="el" href="../../d3/d6a/_imu_simulator_8cpp_source.html#l00010">10</a> of file <a class="el" href="../../d3/d6a/_imu_simulator_8cpp_source.html">ImuSimulator.cpp</a>.</p>

<p>References <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00042">FBModelState&lt; T &gt;::bodyVelocity</a>, <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00060">FBModelStateDerivative&lt; T &gt;::dBodyVelocity</a>, <a class="el" href="../../de/df0/utilities_8h_source.html#l00075">fillEigenWithRandom()</a>, and <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00289">spatial::spatialToLinearAcceleration()</a>.</p>
<div class="fragment"><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;                                                                            {</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  <span class="comment">// accelerometer noise</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <a class="code" href="../../de/df0/utilities_8h.html#abbe68d910024077560aa4d2c88c9ca76">fillEigenWithRandom</a>(acc, <a class="code" href="../../d8/da4/class_imu_simulator.html#adcd731a7ba6e538479a5e6926d4b1c33">_mt</a>, dist);</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <span class="comment">// gravity (should be positive when robot is upright)</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  acc += (R_body * <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;float&gt;</a>(0, 0, 9.81));</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  <span class="comment">// acceleration</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  acc += <a class="code" href="../../de/d1a/namespacespatial.html#a13df9ec1359ecd4150251eaae0895198">spatial::spatialToLinearAcceleration</a>(robotStateD.<a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html#a8b7b6d70f1b1268f02e1b291dad26c5d">dBodyVelocity</a>,</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;                                              robotState.<a class="code" href="../../de/d75/struct_f_b_model_state.html#abf1fc0221d6b92d103193524a2046ffc">bodyVelocity</a>)</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;             .template cast&lt;float&gt;();</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;}</div><div class="ttc" id="struct_f_b_model_state_html_abf1fc0221d6b92d103193524a2046ffc"><div class="ttname"><a href="../../de/d75/struct_f_b_model_state.html#abf1fc0221d6b92d103193524a2046ffc">FBModelState::bodyVelocity</a></div><div class="ttdeci">SVec&lt; T &gt; bodyVelocity</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00042">FloatingBaseModel.h:42</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="struct_f_b_model_state_derivative_html_a8b7b6d70f1b1268f02e1b291dad26c5d"><div class="ttname"><a href="../../de/dce/struct_f_b_model_state_derivative.html#a8b7b6d70f1b1268f02e1b291dad26c5d">FBModelStateDerivative::dBodyVelocity</a></div><div class="ttdeci">SVec&lt; T &gt; dBodyVelocity</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00060">FloatingBaseModel.h:60</a></div></div>
<div class="ttc" id="namespacespatial_html_a13df9ec1359ecd4150251eaae0895198"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#a13df9ec1359ecd4150251eaae0895198">spatial::spatialToLinearAcceleration</a></div><div class="ttdeci">auto spatialToLinearAcceleration(const Eigen::MatrixBase&lt; T &gt; &amp;a, const Eigen::MatrixBase&lt; T2 &gt; &amp;v)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00289">spatial.h:289</a></div></div>
<div class="ttc" id="class_imu_simulator_html_adcd731a7ba6e538479a5e6926d4b1c33"><div class="ttname"><a href="../../d8/da4/class_imu_simulator.html#adcd731a7ba6e538479a5e6926d4b1c33">ImuSimulator::_mt</a></div><div class="ttdeci">std::mt19937 _mt</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/da4/_imu_simulator_8h_source.html#l00050">ImuSimulator.h:50</a></div></div>
<div class="ttc" id="utilities_8h_html_abbe68d910024077560aa4d2c88c9ca76"><div class="ttname"><a href="../../de/df0/utilities_8h.html#abbe68d910024077560aa4d2c88c9ca76">fillEigenWithRandom</a></div><div class="ttdeci">void fillEigenWithRandom(Eigen::MatrixBase&lt; T &gt; &amp;v, std::mt19937 &amp;gen, std::uniform_real_distribution&lt; typename T::Scalar &gt; &amp;dist)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/df0/utilities_8h_source.html#l00075">utilities.h:75</a></div></div>
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template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="../../d8/da4/class_imu_simulator.html">ImuSimulator</a>&lt; T &gt;::updateCheaterState </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../de/d75/struct_f_b_model_state.html">FBModelState</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>robotState</em>, </td>
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          <td class="paramtype">const <a class="el" href="../../de/dce/struct_f_b_model_state_derivative.html">FBModelStateDerivative</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>robotStateD</em>, </td>
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          <td class="paramtype"><a class="el" href="../../d2/d3e/struct_cheater_state.html">CheaterState</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>state</em>&#160;</td>
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<p>Definition at line <a class="el" href="../../d3/d6a/_imu_simulator_8cpp_source.html#l00074">74</a> of file <a class="el" href="../../d3/d6a/_imu_simulator_8cpp_source.html">ImuSimulator.cpp</a>.</p>

<p>References <a class="el" href="../../d0/df2/_i_m_u_types_8h_source.html#l00026">CheaterState&lt; T &gt;::acceleration</a>, <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00040">FBModelState&lt; T &gt;::bodyOrientation</a>, <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00041">FBModelState&lt; T &gt;::bodyPosition</a>, <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00042">FBModelState&lt; T &gt;::bodyVelocity</a>, <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00060">FBModelStateDerivative&lt; T &gt;::dBodyVelocity</a>, <a class="el" href="../../d0/df2/_i_m_u_types_8h_source.html#l00024">CheaterState&lt; T &gt;::omegaBody</a>, <a class="el" href="../../d0/df2/_i_m_u_types_8h_source.html#l00022">CheaterState&lt; T &gt;::orientation</a>, <a class="el" href="../../d0/df2/_i_m_u_types_8h_source.html#l00023">CheaterState&lt; T &gt;::position</a>, <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00160">ori::quaternionToRotationMatrix()</a>, <a class="el" href="../../d9/dc8/spatial_8h_source.html#l00289">spatial::spatialToLinearAcceleration()</a>, and <a class="el" href="../../d0/df2/_i_m_u_types_8h_source.html#l00025">CheaterState&lt; T &gt;::vBody</a>.</p>
<div class="fragment"><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;                                                                          {</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat&lt;T&gt;</a> R_body = <a class="code" href="../../da/d9b/namespaceori.html#af88fa91d686c646d41f9b747a6bc90f0">quaternionToRotationMatrix</a>(robotState.<a class="code" href="../../de/d75/struct_f_b_model_state.html#ae42e1f0d68b89af761bcaf273b97bca7">bodyOrientation</a>);</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  state.<a class="code" href="../../d2/d3e/struct_cheater_state.html#ab01ca9c0986dd490b8623718fd1ddfef">acceleration</a> = (R_body * <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(0, 0, 9.81)) +</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;                       <a class="code" href="../../de/d1a/namespacespatial.html#a13df9ec1359ecd4150251eaae0895198">spatial::spatialToLinearAcceleration</a>(</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;                           robotStateD.<a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html#a8b7b6d70f1b1268f02e1b291dad26c5d">dBodyVelocity</a>, robotState.<a class="code" href="../../de/d75/struct_f_b_model_state.html#abf1fc0221d6b92d103193524a2046ffc">bodyVelocity</a>);</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  state.<a class="code" href="../../d2/d3e/struct_cheater_state.html#ae02bcdc59fc86cb974a2ce8159308d1f">orientation</a> = robotState.<a class="code" href="../../de/d75/struct_f_b_model_state.html#ae42e1f0d68b89af761bcaf273b97bca7">bodyOrientation</a>;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  state.<a class="code" href="../../d2/d3e/struct_cheater_state.html#ad845254240a0ee8f5d6a16b14dcb427a">position</a> = robotState.<a class="code" href="../../de/d75/struct_f_b_model_state.html#abbf400085816b6baa4e4a0597ac5b118">bodyPosition</a>;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  state.<a class="code" href="../../d2/d3e/struct_cheater_state.html#a10fa6f4f2cea3e4fd8b39a1214ea14a7">omegaBody</a> = robotState.<a class="code" href="../../de/d75/struct_f_b_model_state.html#abf1fc0221d6b92d103193524a2046ffc">bodyVelocity</a>.template head&lt;3&gt;();</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  state.<a class="code" href="../../d2/d3e/struct_cheater_state.html#a3ee8815ba296b224582e404d20fcbcbd">vBody</a> = robotState.<a class="code" href="../../de/d75/struct_f_b_model_state.html#abf1fc0221d6b92d103193524a2046ffc">bodyVelocity</a>.template tail&lt;3&gt;();</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;}</div><div class="ttc" id="struct_f_b_model_state_html_abbf400085816b6baa4e4a0597ac5b118"><div class="ttname"><a href="../../de/d75/struct_f_b_model_state.html#abbf400085816b6baa4e4a0597ac5b118">FBModelState::bodyPosition</a></div><div class="ttdeci">Vec3&lt; T &gt; bodyPosition</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00041">FloatingBaseModel.h:41</a></div></div>
<div class="ttc" id="struct_f_b_model_state_html_abf1fc0221d6b92d103193524a2046ffc"><div class="ttname"><a href="../../de/d75/struct_f_b_model_state.html#abf1fc0221d6b92d103193524a2046ffc">FBModelState::bodyVelocity</a></div><div class="ttdeci">SVec&lt; T &gt; bodyVelocity</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00042">FloatingBaseModel.h:42</a></div></div>
<div class="ttc" id="struct_cheater_state_html_a3ee8815ba296b224582e404d20fcbcbd"><div class="ttname"><a href="../../d2/d3e/struct_cheater_state.html#a3ee8815ba296b224582e404d20fcbcbd">CheaterState::vBody</a></div><div class="ttdeci">Vec3&lt; T &gt; vBody</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/df2/_i_m_u_types_8h_source.html#l00025">IMUTypes.h:25</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="struct_f_b_model_state_derivative_html_a8b7b6d70f1b1268f02e1b291dad26c5d"><div class="ttname"><a href="../../de/dce/struct_f_b_model_state_derivative.html#a8b7b6d70f1b1268f02e1b291dad26c5d">FBModelStateDerivative::dBodyVelocity</a></div><div class="ttdeci">SVec&lt; T &gt; dBodyVelocity</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00060">FloatingBaseModel.h:60</a></div></div>
<div class="ttc" id="namespacespatial_html_a13df9ec1359ecd4150251eaae0895198"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#a13df9ec1359ecd4150251eaae0895198">spatial::spatialToLinearAcceleration</a></div><div class="ttdeci">auto spatialToLinearAcceleration(const Eigen::MatrixBase&lt; T &gt; &amp;a, const Eigen::MatrixBase&lt; T2 &gt; &amp;v)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00289">spatial.h:289</a></div></div>
<div class="ttc" id="struct_cheater_state_html_a10fa6f4f2cea3e4fd8b39a1214ea14a7"><div class="ttname"><a href="../../d2/d3e/struct_cheater_state.html#a10fa6f4f2cea3e4fd8b39a1214ea14a7">CheaterState::omegaBody</a></div><div class="ttdeci">Vec3&lt; T &gt; omegaBody</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/df2/_i_m_u_types_8h_source.html#l00024">IMUTypes.h:24</a></div></div>
<div class="ttc" id="struct_cheater_state_html_ae02bcdc59fc86cb974a2ce8159308d1f"><div class="ttname"><a href="../../d2/d3e/struct_cheater_state.html#ae02bcdc59fc86cb974a2ce8159308d1f">CheaterState::orientation</a></div><div class="ttdeci">Quat&lt; T &gt; orientation</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/df2/_i_m_u_types_8h_source.html#l00022">IMUTypes.h:22</a></div></div>
<div class="ttc" id="struct_cheater_state_html_ab01ca9c0986dd490b8623718fd1ddfef"><div class="ttname"><a href="../../d2/d3e/struct_cheater_state.html#ab01ca9c0986dd490b8623718fd1ddfef">CheaterState::acceleration</a></div><div class="ttdeci">Vec3&lt; T &gt; acceleration</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/df2/_i_m_u_types_8h_source.html#l00026">IMUTypes.h:26</a></div></div>
<div class="ttc" id="struct_cheater_state_html_ad845254240a0ee8f5d6a16b14dcb427a"><div class="ttname"><a href="../../d2/d3e/struct_cheater_state.html#ad845254240a0ee8f5d6a16b14dcb427a">CheaterState::position</a></div><div class="ttdeci">Vec3&lt; T &gt; position</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/df2/_i_m_u_types_8h_source.html#l00023">IMUTypes.h:23</a></div></div>
<div class="ttc" id="namespaceori_html_af88fa91d686c646d41f9b747a6bc90f0"><div class="ttname"><a href="../../da/d9b/namespaceori.html#af88fa91d686c646d41f9b747a6bc90f0">ori::quaternionToRotationMatrix</a></div><div class="ttdeci">Mat3&lt; typename T::Scalar &gt; quaternionToRotationMatrix(const Eigen::MatrixBase&lt; T &gt; &amp;q)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00160">orientation_tools.h:160</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a0b83d93a3c74d282558436e26c056896"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; RotMat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00018">cppTypes.h:18</a></div></div>
<div class="ttc" id="struct_f_b_model_state_html_ae42e1f0d68b89af761bcaf273b97bca7"><div class="ttname"><a href="../../de/d75/struct_f_b_model_state.html#ae42e1f0d68b89af761bcaf273b97bca7">FBModelState::bodyOrientation</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW Quat&lt; T &gt; bodyOrientation</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00040">FloatingBaseModel.h:40</a></div></div>
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          <td class="memname">void <a class="el" href="../../d8/da4/class_imu_simulator.html">ImuSimulator</a>&lt; T &gt;::updateVectornav </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../de/d75/struct_f_b_model_state.html">FBModelState</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>robotState</em>, </td>
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          <td></td>
          <td class="paramtype">const <a class="el" href="../../de/dce/struct_f_b_model_state_derivative.html">FBModelStateDerivative</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>robotStateD</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../df/d06/struct_vector_nav_data.html">VectorNavData</a> *&#160;</td>
          <td class="paramname"><em>data</em>&#160;</td>
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<p>Definition at line <a class="el" href="../../d3/d6a/_imu_simulator_8cpp_source.html#l00028">28</a> of file <a class="el" href="../../d3/d6a/_imu_simulator_8cpp_source.html">ImuSimulator.cpp</a>.</p>

<p>References <a class="el" href="../../d0/df2/_i_m_u_types_8h_source.html#l00014">VectorNavData::accelerometer</a>, <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00040">FBModelState&lt; T &gt;::bodyOrientation</a>, <a class="el" href="../../d5/d9a/_floating_base_model_8h_source.html#l00042">FBModelState&lt; T &gt;::bodyVelocity</a>, <a class="el" href="../../dc/dd7/test__casadi_8cpp_source.html#l00202">f()</a>, <a class="el" href="../../de/df0/utilities_8h_source.html#l00075">fillEigenWithRandom()</a>, <a class="el" href="../../d0/df2/_i_m_u_types_8h_source.html#l00015">VectorNavData::gyro</a>, <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00283">ori::integrateQuat()</a>, <a class="el" href="../../d0/df2/_i_m_u_types_8h_source.html#l00016">VectorNavData::quat</a>, and <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html#l00160">ori::quaternionToRotationMatrix()</a>.</p>
<div class="fragment"><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;                                                                       {</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <span class="comment">// body orientation</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat&lt;float&gt;</a> R_body = <a class="code" href="../../da/d9b/namespaceori.html#af88fa91d686c646d41f9b747a6bc90f0">quaternionToRotationMatrix</a>(</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;      robotState.<a class="code" href="../../de/d75/struct_f_b_model_state.html#ae42e1f0d68b89af761bcaf273b97bca7">bodyOrientation</a>.template cast&lt;float&gt;());</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;float&gt;</a> ori_quat;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <span class="comment">// printf(&quot;imu ori: %f, %f, %f, %f\n&quot;,</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="comment">// robotState.bodyOrientation[0],</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="comment">// robotState.bodyOrientation[1],</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <span class="comment">// robotState.bodyOrientation[2],</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="comment">// robotState.bodyOrientation[3] );</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="comment">// acceleration</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <a class="code" href="../../d8/da4/class_imu_simulator.html#a0eceeee2f45b6d659e1f2a32fb1e6947">computeAcceleration</a>(robotState, robotStateD, data-&gt;<a class="code" href="../../df/d06/struct_vector_nav_data.html#a2b54c7ce2b17cd19834988156da06f21">accelerometer</a>,</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;                      <a class="code" href="../../d8/da4/class_imu_simulator.html#aac0ae5781d522baef79cfadcb7341429">_vectornavAccelerometerDistribution</a>, R_body);</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="comment">// gyro</span></div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <a class="code" href="../../de/df0/utilities_8h.html#abbe68d910024077560aa4d2c88c9ca76">fillEigenWithRandom</a>(data-&gt;<a class="code" href="../../df/d06/struct_vector_nav_data.html#a885e0daffb04f4fd914bc48741b8639d">gyro</a>, <a class="code" href="../../d8/da4/class_imu_simulator.html#adcd731a7ba6e538479a5e6926d4b1c33">_mt</a>, <a class="code" href="../../d8/da4/class_imu_simulator.html#a72ab380a1b7c8ac89c97b3f6891988fa">_vectornavGyroDistribution</a>);</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  data-&gt;<a class="code" href="../../df/d06/struct_vector_nav_data.html#a885e0daffb04f4fd914bc48741b8639d">gyro</a> +=</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;      robotState.<a class="code" href="../../de/d75/struct_f_b_model_state.html#abf1fc0221d6b92d103193524a2046ffc">bodyVelocity</a>.template head&lt;3&gt;().<span class="keyword">template</span> cast&lt;float&gt;();</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="comment">// quaternion</span></div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="../../d8/da4/class_imu_simulator.html#a24f248906c0b8d413b10c6a4f824ecee">_vectorNavOrientationNoise</a>) {</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;float&gt;</a> omegaNoise;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <a class="code" href="../../de/df0/utilities_8h.html#abbe68d910024077560aa4d2c88c9ca76">fillEigenWithRandom</a>(omegaNoise, <a class="code" href="../../d8/da4/class_imu_simulator.html#adcd731a7ba6e538479a5e6926d4b1c33">_mt</a>, <a class="code" href="../../d8/da4/class_imu_simulator.html#ad3f9abda52168d652c9f93bb3eeac435">_vectornavQuatDistribution</a>);</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;float&gt;</a> floatQuat = robotState.<a class="code" href="../../de/d75/struct_f_b_model_state.html#ae42e1f0d68b89af761bcaf273b97bca7">bodyOrientation</a>.template cast&lt;float&gt;();</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="comment">// data-&gt;quat = integrateQuat(floatQuat, omegaNoise, 1.0f);</span></div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    ori_quat = <a class="code" href="../../da/d9b/namespaceori.html#ac12ecf143879de178929ecaad1714a6a">integrateQuat</a>(floatQuat, omegaNoise, 1.0<a class="code" href="../../dc/dd7/test__casadi_8cpp.html#ae20d7fba59865a21504b65cdb44cbfe5">f</a>);</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="comment">// printf(&quot;imu noised ori: %f, %f, %f, %f\n&quot;,</span></div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="comment">// robotState.bodyOrientation[0],</span></div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="comment">// robotState.bodyOrientation[1],</span></div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="comment">// robotState.bodyOrientation[2],</span></div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="comment">// robotState.bodyOrientation[3] );</span></div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="comment">// data-&gt;quat = robotState.bodyOrientation.template cast&lt;float&gt;();</span></div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    ori_quat = robotState.<a class="code" href="../../de/d75/struct_f_b_model_state.html#ae42e1f0d68b89af761bcaf273b97bca7">bodyOrientation</a>.template cast&lt;float&gt;();</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  }</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  data-&gt;<a class="code" href="../../df/d06/struct_vector_nav_data.html#a373f86342f6a3c2b2b2ca995eb67ff58">quat</a>[3] = ori_quat[0];</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  data-&gt;<a class="code" href="../../df/d06/struct_vector_nav_data.html#a373f86342f6a3c2b2b2ca995eb67ff58">quat</a>[0] = ori_quat[1];</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  data-&gt;<a class="code" href="../../df/d06/struct_vector_nav_data.html#a373f86342f6a3c2b2b2ca995eb67ff58">quat</a>[1] = ori_quat[2];</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  data-&gt;<a class="code" href="../../df/d06/struct_vector_nav_data.html#a373f86342f6a3c2b2b2ca995eb67ff58">quat</a>[2] = ori_quat[3];</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;}</div><div class="ttc" id="struct_f_b_model_state_html_abf1fc0221d6b92d103193524a2046ffc"><div class="ttname"><a href="../../de/d75/struct_f_b_model_state.html#abf1fc0221d6b92d103193524a2046ffc">FBModelState::bodyVelocity</a></div><div class="ttdeci">SVec&lt; T &gt; bodyVelocity</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00042">FloatingBaseModel.h:42</a></div></div>
<div class="ttc" id="class_imu_simulator_html_ad3f9abda52168d652c9f93bb3eeac435"><div class="ttname"><a href="../../d8/da4/class_imu_simulator.html#ad3f9abda52168d652c9f93bb3eeac435">ImuSimulator::_vectornavQuatDistribution</a></div><div class="ttdeci">std::uniform_real_distribution&lt; float &gt; _vectornavQuatDistribution</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/da4/_imu_simulator_8h_source.html#l00053">ImuSimulator.h:53</a></div></div>
<div class="ttc" id="class_imu_simulator_html_a24f248906c0b8d413b10c6a4f824ecee"><div class="ttname"><a href="../../d8/da4/class_imu_simulator.html#a24f248906c0b8d413b10c6a4f824ecee">ImuSimulator::_vectorNavOrientationNoise</a></div><div class="ttdeci">bool _vectorNavOrientationNoise</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/da4/_imu_simulator_8h_source.html#l00054">ImuSimulator.h:54</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a8686862774f7c3186c7920447f4de282"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 4, 1 &gt; Quat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00058">cppTypes.h:58</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="struct_vector_nav_data_html_a2b54c7ce2b17cd19834988156da06f21"><div class="ttname"><a href="../../df/d06/struct_vector_nav_data.html#a2b54c7ce2b17cd19834988156da06f21">VectorNavData::accelerometer</a></div><div class="ttdeci">Vec3&lt; float &gt; accelerometer</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/df2/_i_m_u_types_8h_source.html#l00014">IMUTypes.h:14</a></div></div>
<div class="ttc" id="namespaceori_html_ac12ecf143879de178929ecaad1714a6a"><div class="ttname"><a href="../../da/d9b/namespaceori.html#ac12ecf143879de178929ecaad1714a6a">ori::integrateQuat</a></div><div class="ttdeci">Quat&lt; typename T::Scalar &gt; integrateQuat(const Eigen::MatrixBase&lt; T &gt; &amp;quat, const Eigen::MatrixBase&lt; T2 &gt; &amp;omega, T3 dt)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00283">orientation_tools.h:283</a></div></div>
<div class="ttc" id="class_imu_simulator_html_a72ab380a1b7c8ac89c97b3f6891988fa"><div class="ttname"><a href="../../d8/da4/class_imu_simulator.html#a72ab380a1b7c8ac89c97b3f6891988fa">ImuSimulator::_vectornavGyroDistribution</a></div><div class="ttdeci">std::uniform_real_distribution&lt; float &gt; _vectornavGyroDistribution</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/da4/_imu_simulator_8h_source.html#l00051">ImuSimulator.h:51</a></div></div>
<div class="ttc" id="class_imu_simulator_html_aac0ae5781d522baef79cfadcb7341429"><div class="ttname"><a href="../../d8/da4/class_imu_simulator.html#aac0ae5781d522baef79cfadcb7341429">ImuSimulator::_vectornavAccelerometerDistribution</a></div><div class="ttdeci">std::uniform_real_distribution&lt; float &gt; _vectornavAccelerometerDistribution</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/da4/_imu_simulator_8h_source.html#l00052">ImuSimulator.h:52</a></div></div>
<div class="ttc" id="class_imu_simulator_html_adcd731a7ba6e538479a5e6926d4b1c33"><div class="ttname"><a href="../../d8/da4/class_imu_simulator.html#adcd731a7ba6e538479a5e6926d4b1c33">ImuSimulator::_mt</a></div><div class="ttdeci">std::mt19937 _mt</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/da4/_imu_simulator_8h_source.html#l00050">ImuSimulator.h:50</a></div></div>
<div class="ttc" id="struct_vector_nav_data_html_a373f86342f6a3c2b2b2ca995eb67ff58"><div class="ttname"><a href="../../df/d06/struct_vector_nav_data.html#a373f86342f6a3c2b2b2ca995eb67ff58">VectorNavData::quat</a></div><div class="ttdeci">Quat&lt; float &gt; quat</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/df2/_i_m_u_types_8h_source.html#l00016">IMUTypes.h:16</a></div></div>
<div class="ttc" id="class_imu_simulator_html_a0eceeee2f45b6d659e1f2a32fb1e6947"><div class="ttname"><a href="../../d8/da4/class_imu_simulator.html#a0eceeee2f45b6d659e1f2a32fb1e6947">ImuSimulator::computeAcceleration</a></div><div class="ttdeci">void computeAcceleration(const FBModelState&lt; T &gt; &amp;robotState, const FBModelStateDerivative&lt; T &gt; &amp;robotStateD, Vec3&lt; float &gt; &amp;acc, std::uniform_real_distribution&lt; float &gt; &amp;dist, const RotMat&lt; float &gt; &amp;R_body)</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d6a/_imu_simulator_8cpp_source.html#l00010">ImuSimulator.cpp:10</a></div></div>
<div class="ttc" id="namespaceori_html_af88fa91d686c646d41f9b747a6bc90f0"><div class="ttname"><a href="../../da/d9b/namespaceori.html#af88fa91d686c646d41f9b747a6bc90f0">ori::quaternionToRotationMatrix</a></div><div class="ttdeci">Mat3&lt; typename T::Scalar &gt; quaternionToRotationMatrix(const Eigen::MatrixBase&lt; T &gt; &amp;q)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00160">orientation_tools.h:160</a></div></div>
<div class="ttc" id="struct_vector_nav_data_html_a885e0daffb04f4fd914bc48741b8639d"><div class="ttname"><a href="../../df/d06/struct_vector_nav_data.html#a885e0daffb04f4fd914bc48741b8639d">VectorNavData::gyro</a></div><div class="ttdeci">Vec3&lt; float &gt; gyro</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/df2/_i_m_u_types_8h_source.html#l00015">IMUTypes.h:15</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a0b83d93a3c74d282558436e26c056896"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; RotMat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00018">cppTypes.h:18</a></div></div>
<div class="ttc" id="utilities_8h_html_abbe68d910024077560aa4d2c88c9ca76"><div class="ttname"><a href="../../de/df0/utilities_8h.html#abbe68d910024077560aa4d2c88c9ca76">fillEigenWithRandom</a></div><div class="ttdeci">void fillEigenWithRandom(Eigen::MatrixBase&lt; T &gt; &amp;v, std::mt19937 &amp;gen, std::uniform_real_distribution&lt; typename T::Scalar &gt; &amp;dist)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/df0/utilities_8h_source.html#l00075">utilities.h:75</a></div></div>
<div class="ttc" id="struct_f_b_model_state_html_ae42e1f0d68b89af761bcaf273b97bca7"><div class="ttname"><a href="../../de/d75/struct_f_b_model_state.html#ae42e1f0d68b89af761bcaf273b97bca7">FBModelState::bodyOrientation</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW Quat&lt; T &gt; bodyOrientation</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00040">FloatingBaseModel.h:40</a></div></div>
<div class="ttc" id="test__casadi_8cpp_html_ae20d7fba59865a21504b65cdb44cbfe5"><div class="ttname"><a href="../../dc/dd7/test__casadi_8cpp.html#ae20d7fba59865a21504b65cdb44cbfe5">f</a></div><div class="ttdeci">MX f(const MX &amp;x, const MX &amp;u)</div><div class="ttdef"><b>Definition:</b> <a href="../../dc/dd7/test__casadi_8cpp_source.html#l00202">test_casadi.cpp:202</a></div></div>
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<h2 class="groupheader">Member Data Documentation</h2>
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<p>Definition at line <a class="el" href="../../d2/da4/_imu_simulator_8h_source.html#l00050">50</a> of file <a class="el" href="../../d2/da4/_imu_simulator_8h_source.html">ImuSimulator.h</a>.</p>

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          <td class="memname"><a class="el" href="../../da/dcf/class_simulator_control_parameters.html">SimulatorControlParameters</a>&amp; <a class="el" href="../../d8/da4/class_imu_simulator.html">ImuSimulator</a>&lt; T &gt;::_simSettings</td>
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<p>Definition at line <a class="el" href="../../d2/da4/_imu_simulator_8h_source.html#l00049">49</a> of file <a class="el" href="../../d2/da4/_imu_simulator_8h_source.html">ImuSimulator.h</a>.</p>

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          <td class="memname">std::uniform_real_distribution&lt;float&gt; <a class="el" href="../../d8/da4/class_imu_simulator.html">ImuSimulator</a>&lt; T &gt;::_vectornavGyroDistribution</td>
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<p>Definition at line <a class="el" href="../../d2/da4/_imu_simulator_8h_source.html#l00051">51</a> of file <a class="el" href="../../d2/da4/_imu_simulator_8h_source.html">ImuSimulator.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d2/da4/_imu_simulator_8h_source.html#l00054">54</a> of file <a class="el" href="../../d2/da4/_imu_simulator_8h_source.html">ImuSimulator.h</a>.</p>

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          <td class="memname">std::uniform_real_distribution&lt;float&gt; <a class="el" href="../../d8/da4/class_imu_simulator.html">ImuSimulator</a>&lt; T &gt;::_vectornavQuatDistribution</td>
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<p>Definition at line <a class="el" href="../../d2/da4/_imu_simulator_8h_source.html#l00053">53</a> of file <a class="el" href="../../d2/da4/_imu_simulator_8h_source.html">ImuSimulator.h</a>.</p>

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